Eine Chirurgenkonsole für MiroSurge. - Andreas Tobergte; Patrick Helmer; Ulrich Hagn; Sophie Thielmann; Gerd Hirzinger (CURAC, 2011)

The sigma.7 haptic interface for MiroSurge: A new bi-manual surgical console. - Andreas Tobergte; Patrick Helmer; Ulrich Hagn; Patrice Rouiller; Sophie Thielmann; Sébastien Grange; Alin Albu-Schäffer; François Conti; Gerd Hirzinger (IROS, 2011)

A disturbance observer for the sigma.7 haptic device. - Andreas Tobergte; Patrick Helmer (IROS, 2013)

In Memoriam: Prof. Reymond Clavel [Society News]. - Aude Billard; Mohamed Bouri; Mahmut Selman Sakar; Jamie Paik; Auke Jan Ijspeert; Hannes Bleuler; Yves Bellouard; Colin Jones; Charles Baur; Francesco Mondada; Simon Henein; Patrick Helmer; et al. (IEEE Robotics Autom. Mag., 2025)